JPH0810379A - Line marking device - Google Patents

Abstract

PURPOSE:To provide a line marking device capable of automatically and precisely drawing various courts for baseball, tennis and volleyball. CONSTITUTION:This device has a traveling pattern memory means 19 for storing a traveling pattern for drawing an intended court, a range finding means 22 for measuring the present position in traveling, and a control means 21 for comparatively determining the difference between the present position measured by the range finding means 22 and the traveling pattern, and controlling the direction of a steering wheel to the direction to minimize the difference. The device is traveled according to the traveling pattern stored in the traveling pattern memory means 19, whereby a required court is drawn with a white line.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a line marking device for drawing a white line to make a court for various sports.

[0002]

2. Description of the Related Art FIG. 8 shows the structure of a conventional line marking device. As shown in the figure, the conventional line marking device has a container (also serving as a body) 1 for storing slaked lime, a wheel 2, and a handle 3 projecting above the container 1.
By a discharge port 4 provided on the lower end surface of the container 1 for uniformly discharging the slaked lime stored in the container 1 with a predetermined width, a shutter 5 for opening and closing the discharge port 4 as necessary, and an axle of the wheel 2. It is driven by a stirring means 6 for uniformly discharging slaked lime.

[0003]

The conventional line marking device has the following drawbacks. Since the white line is drawn using human power, it is necessary to measure the dimensions of the line drawing point beforehand with a tape measure or the like. Because the lines are pushed by both hands, if the balance of the pushing force of the left and right hands is lost, the lines will bend and the beauty of the lines will be impaired.

[0004] If drawing is performed while paying attention to the above, it takes a lot of time for drawing. An object of the present invention is to eliminate these inconveniences and to provide a self-propelled line marking device that can draw a white line cleanly in a short time.

[0005]

According to the present invention, traveling means composed of driving wheels and steered wheels, distance measuring means for detecting the moving direction and amount of movement by the traveling means, and traveling for storing a traveling pattern planned in advance Pattern storage means, display means for displaying the travel pattern stored in the travel pattern storage means, drive wheels and steering shafts according to the travel pattern stored in the travel pattern storage means, and a moving direction measured by the distance measurement means. And a movement amount to obtain the current position, compare the current position and the traveling pattern, and control means for controlling so that the comparison result is always the minimum value, a slaked lime storage container for storing slaked lime, and this slaked lime storage container Discharge driving means for discharging the slaked lime stored in the discharge in synchronism with the running amount, and discharge unevenness detection means for detecting uneven coating of the discharged slaked lime, Thus it is obtained by constituting the line marking apparatus.

According to the structure of the present invention, the white line can be drawn by the traveling means by self-propelled. In addition, since the traveling pattern is input and stored in advance and the traveling direction and the amount of movement are measured by the distance measuring unit to travel, the white line can be drawn according to the traveling pattern input in advance. Therefore, it is possible to automatically draw a baseball court, a sucker court, a valley court, a basketball court, or the like. Further, since the distance measuring means can measure the traveling amount with an accuracy of about a fraction of a millimeter, the size of the coat can be accurately defined. In addition, because the traveling pattern is compared with the actual moving direction and distance, and the difference is always controlled to be the minimum,
It is possible to accurately draw the straight line or arc set in the running pattern.

[0007]

1 to 7 show an embodiment of the present invention.
FIG. 1 shows an example of the appearance of a line marking device according to the present invention. In the figure, 10 is a body, 11 is a driving wheel, and 12 is a steering wheel. In this example, the steering wheel 12 is one wheel and the traveling means 13 is constituted by a three-wheel structure. A display unit 14 is attached to the upper surface of the body 10, and the setting state is displayed by the display unit 14. That is, a lid 15 is provided adjacent to the display means 14, and when the lid 15 is opened, an input means such as a keyboard is exposed.
It is configured so that a driving pattern can be selected and input. The body 10 is self-propelled in the direction of arrow 17 with the drive wheel 11 as the front wheel. Reference numeral 16 denotes a lid of the slaked lime storage unit.

FIG. 2 shows the electrical construction of the line marking device according to the present invention. Reference numeral 18 shown in FIG. 2 indicates an input means. The input means 18 is composed of, for example, a numerical key of 0 to 9 and is attached to the lower side of the lid 15 shown in FIG. Reference numeral 19 denotes a traveling pattern storage means. The patterns of various coats are stored in the running pattern storage means 19,
By inputting the selection number from the input means 18, the traveling pattern of the desired coat is read and input to the control means 21.

Reference numeral 22 indicates a distance measuring means. This distance measuring means 22
Can be composed of, for example, a gyro device and two acceleration sensors. The two acceleration sensors are arranged so that their sensing axes are orthogonal to each other, and X
A signal corresponding to the amount of movement in the Y direction and the Y direction is output. A signal corresponding to this movement amount and a signal indicating the direction output from the gyro device are given to the control means 21. The control means 21 calculates the current position from the movement direction and the movement amount from the traveling start point based on the signal corresponding to the movement amount and the signal indicating the direction, and compares the current position with the traveling pattern.

The control means 21 gives a pulse generation command to the pulse generation means 23, and causes the pulse generation means 23 to generate a traveling pulse. This traveling pulse is given to the pulse motor driving means 24 to drive the traveling pulse motor 25.
The traveling pulse motor 25 rotationally drives the drive wheels 11 to drive the body 10. As the body 10 runs,
The control unit 21 calculates the current position from the distance measurement data input from the distance measurement unit 22, compares the current position with the traveling pattern, and controls the direction of the steered wheels 12 so that the difference value becomes the minimum. To do. That is, the steering wheel 1 is applied to the pulse generating means 26.
A command for generating a pulse having a polarity for steering 2 to the right and left rudder is given, the pulse output from the pulse generating means 26 is given to the pulse motor driving means 27, and the steering pulse motor 28 is rotated in the forward or reverse direction. Drive to. By driving the steering pulse motor 28 in the forward rotation direction or the reverse rotation direction by an amount corresponding to the number of pulses, the traveling direction of the body 10 is corrected, and as a result, the body 10 travels along the traveling pattern.

If a deviation occurs between the traveling pattern and the current position, the control means 21 causes the ejection drive means 2 to operate.
The operation of 9 is stopped, and the discharge of slaked lime is stopped. Along with this, the pulse generation of the pulse generation means 26 is interrupted,
Generates a pulse that goes back by an amount equivalent to the shift, and the body 1
The operation of returning 0 to the start point of the deviation occurs. 3 and 4 show a specific structure of the ejection drive unit 29. The stirring means 32 is arranged below the slaked lime storage container 31. In this example, the stirring means 32 is constituted by a shaft having a fin 33 protruding in a spiral shape. A slit-shaped discharge port 34 is provided below the stirring means 32, and the slaked lime stirred by the stirring means 32 is discharged from the discharge port 34. The stirring means 32 is connected to a motor 35, and is rotationally driven by the motor 35. The control for stopping the discharge of slaked lime can be stopped by stopping the motor 35 or by providing a shutter for opening and closing the discharge port 34 and closing the shutter to stop the discharge of the slaked lime.

Reference numeral 36 shown in FIG. 2 indicates a discharge unevenness detecting means. For example, as shown in FIG. 5, the ejection unevenness detecting unit 36 mounts a television camera 37 on the bottom surface side of the body 10 and images a white line 38 drawn by the television camera 37. FIG. 6 shows the imaged image. Reference numeral 39 denotes the entire image captured by the television camera 37. A white line 38 is displayed in the center of the image 39. A window W that crosses the white line 38 is set by image processing technology. When the width X of the window W is set to a small value, if the width T of the white line 38 becomes uneven, the area of the white portion in the window W changes, so that it is possible to detect the occurrence of coating unevenness on the white line 38. it can. When the coating unevenness is detected, the traveling is stopped, the body 10 is returned to the position before the position where the coating unevenness is detected, and the white line is applied again from that position.

FIG. 7 shows an outline of a program for operating the line marking device according to the present invention. In step S1, it is determined whether the power switch is on or off. If the power switch is on, the process proceeds to step S2. In step S2, the traveling pattern is selected using the input means 18. When the selection is completed, the travel pattern selected in step S3 is displayed, and it is determined in step S4 whether or not the selected travel pattern is the target travel pattern. When the traveling pattern displayed on the display means 14 is not the desired traveling pattern, the process returns to step S2 and the traveling pattern is selected again.

If the selected traveling pattern is the desired traveling pattern, the process proceeds to step S5. Step S
In S5 and S6, the setting of the current position and the traveling direction in the traveling pattern is input, and the input result is displayed. When the current position and traveling direction in the traveling pattern are correctly input, the process proceeds from step S7 to step S8. In step S8, a drive pulse is output according to the travel pattern data, the drive wheels 11 are driven, and the body 10 starts moving. During the movement, in step S9, the difference between the traveling pattern and the current position is calculated and compared, and the steered wheels 12 are steered to the right or left depending on the comparison result, that is, the polarity of the difference value. Step S1
At 0, it is determined whether or not there is a deviation in the movement amount and the movement direction. If there is no deviation, the process jumps to step S14, and it is determined whether or not the traveling pattern has ended. If the traveling pattern has not ended, the process returns to step S8 to drive the drive wheels 11 to continue traveling.

If there is a deviation between the current position and the traveling pattern during traveling, step S10 is followed by step S11.
Branch to. In step S11, the driving of discharging slaked lime is stopped. At the same time, the amount of deviation is calculated in step S12, and the body 10 is returned by the amount corresponding to the deviation in step S13. After this reverse operation, the process proceeds to step S14,
It is determined whether or not the traveling pattern has ended, and the process returns to step S8. If the traveling pattern has ended, the process ends in step S15.

When the discharge unevenness detecting means 36 is provided, detection of discharge unevenness and processing steps for detecting discharge unevenness are provided between steps S13 and S14.

[0017]

As described above, according to the present invention, the body 10 in which the slaked lime storage container 31 is mounted moves in accordance with a preset traveling pattern, and the white line 38 is drawn to automatically draw the planned coat. it can. Moreover, the current position and the white line 38 are moved while being compared, and if a large difference occurs between the current position and the traveling pattern data value, the current position is temporarily stopped, the position where the deviation is generated is returned, and the white line is drawn again. From here, you can accurately draw the planned coat.

[Brief description of drawings]

FIG. 1 is a perspective view showing an example of the appearance of a line marking device according to the present invention.

FIG. 2 is a diagram showing an example of an electrical configuration of a line marking device according to the present invention.

FIG. 3 is a sectional view showing an example of a slaked lime storage container used in the line marking device according to the present invention.

FIG. 4 is a sectional view similar to FIG.

FIG. 5 is a front view showing an example of an ejection unevenness detection unit used in the line marking device according to the present invention.

FIG. 6 is a front view for explaining the operation of the ejection unevenness detection unit shown in FIG.

FIG. 7 is a flowchart for explaining an outline of a program for operating the line marking device of the present invention.

FIG. 8 is a perspective view for explaining a conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 body 11 drive wheel 12 steering wheel 13 traveling means 14 display means 15, 16 lid 17 arrow indicating the traveling direction 18 input means 19 traveling pattern storage means 21 control means 22 distance measuring means 23, 26 pulse generating means 24, 27 pulse motor Driving means 25 Traveling pulse motor 28 Steering pulse motor 29 Discharge driving means 31 Slaked lime storage container 32 Stirring means 33 Fins 34 Discharge port 35 Motor 36 Discharge unevenness detection means 37 Television camera 38 White line

Claims (1)

[Claims] 1. A. First Embodiment A traveling means including a driving wheel and a steering wheel, and B. Distance measuring means for detecting a moving direction and a moving amount by the traveling means; A travel pattern storage means for storing a travel pattern planned in advance; D. Display means for displaying the traveling pattern stored in the traveling pattern storage means, and E. The drive wheel and the steering shaft are controlled according to the traveling pattern stored in the traveling pattern storage means, and the current position is obtained from the moving direction and the moving amount measured by the distance measuring means, and the current position and the traveling pattern are compared. , Control means for controlling such that the comparison result is always the minimum value, and F. A slaked lime storage container for storing slaked lime, and G. A discharging drive means for discharging the slaked lime stored in the slaked lime storage container in synchronism with the traveling amount; A line marking apparatus comprising: a discharge unevenness detecting unit that detects uneven application of discharged slaked lime.